CN102970926B - Em校准的实时质量控制 - Google Patents
Em校准的实时质量控制 Download PDFInfo
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- CN102970926B CN102970926B CN201180032617.6A CN201180032617A CN102970926B CN 102970926 B CN102970926 B CN 102970926B CN 201180032617 A CN201180032617 A CN 201180032617A CN 102970926 B CN102970926 B CN 102970926B
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- 230000033001 locomotion Effects 0.000 claims abstract description 77
- 239000011159 matrix material Substances 0.000 claims abstract description 48
- 239000000523 sample Substances 0.000 claims abstract description 37
- 238000003384 imaging method Methods 0.000 claims abstract description 24
- 238000012360 testing method Methods 0.000 claims abstract description 23
- 238000010200 validation analysis Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 48
- 230000009017 pursuit movement Effects 0.000 claims description 7
- 238000009795 derivation Methods 0.000 claims 1
- 230000009466 transformation Effects 0.000 claims 1
- 230000008569 process Effects 0.000 description 33
- 238000006243 chemical reaction Methods 0.000 description 6
- 238000000205 computational method Methods 0.000 description 6
- 238000002591 computed tomography Methods 0.000 description 3
- 238000002595 magnetic resonance imaging Methods 0.000 description 3
- 238000003908 quality control method Methods 0.000 description 3
- 230000000241 respiratory effect Effects 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 238000010998 test method Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000005481 NMR spectroscopy Methods 0.000 description 1
- 239000005441 aurora Substances 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000747 cardiac effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000002224 dissection Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003238 esophagus Anatomy 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
- A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
- A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
- A61B8/5261—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from different diagnostic modalities, e.g. ultrasound and X-ray
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00725—Calibration or performance testing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/064—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10132—Ultrasound image
- G06T2207/10136—3D ultrasound image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30048—Heart; Cardiac
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US35896210P | 2010-06-28 | 2010-06-28 | |
US61/358,962 | 2010-06-28 | ||
PCT/IB2011/052328 WO2012001548A1 (fr) | 2010-06-28 | 2011-05-27 | Contrôle de qualité en temps réel d'étalonnage électromagnétique (em) |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102970926A CN102970926A (zh) | 2013-03-13 |
CN102970926B true CN102970926B (zh) | 2016-08-17 |
Family
ID=44514339
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201180032617.6A Active CN102970926B (zh) | 2010-06-28 | 2011-05-27 | Em校准的实时质量控制 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9135707B2 (fr) |
EP (1) | EP2584965B1 (fr) |
JP (1) | JP5848762B2 (fr) |
CN (1) | CN102970926B (fr) |
WO (1) | WO2012001548A1 (fr) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102970926B (zh) * | 2010-06-28 | 2016-08-17 | 皇家飞利浦电子股份有限公司 | Em校准的实时质量控制 |
WO2013001424A2 (fr) * | 2011-06-27 | 2013-01-03 | Koninklijke Philips Electronics N.V. | Système guidé par image ultrasonore et procédé d'étalonnage à base de mouvement de volume |
EP3470003A3 (fr) | 2012-05-14 | 2019-04-24 | Intuitive Surgical Operations Inc. | Systèmes de compensation de déformation faisant appel à la détection de formes |
JP6242394B2 (ja) * | 2012-07-27 | 2017-12-06 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 超音波画像から追跡システムへの正確で迅速な点マッピング |
EP3108266B1 (fr) | 2014-01-13 | 2020-03-18 | Brainlab AG | Estimation et compensation de suivi d'imprécisions |
JP2017511712A (ja) | 2014-02-04 | 2017-04-27 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 介入ツールの仮想ナビゲーションのための組織の非剛体変形のためのシステム及び方法 |
EP3157436B1 (fr) * | 2014-06-18 | 2021-04-21 | Koninklijke Philips N.V. | Appareil d'imagerie à ultrasons |
WO2016009312A1 (fr) * | 2014-07-14 | 2016-01-21 | Koninklijke Philips N.V. | Système d'étalonnage de grille pour procédures interventionnelles |
JP6714019B2 (ja) * | 2015-05-07 | 2020-06-24 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 医療手順における動き補償のためのシステム及び方法 |
US9934570B2 (en) * | 2015-10-09 | 2018-04-03 | Insightec, Ltd. | Systems and methods for registering images obtained using various imaging modalities and verifying image registration |
US10757394B1 (en) | 2015-11-09 | 2020-08-25 | Cognex Corporation | System and method for calibrating a plurality of 3D sensors with respect to a motion conveyance |
US10812778B1 (en) * | 2015-11-09 | 2020-10-20 | Cognex Corporation | System and method for calibrating one or more 3D sensors mounted on a moving manipulator |
US11562502B2 (en) | 2015-11-09 | 2023-01-24 | Cognex Corporation | System and method for calibrating a plurality of 3D sensors with respect to a motion conveyance |
JP7080170B6 (ja) * | 2015-12-14 | 2022-06-23 | コーニンクレッカ フィリップス エヌ ヴェ | 医用機器追跡システム及び方法 |
US11413011B2 (en) | 2015-12-22 | 2022-08-16 | Koninklijke Philips N.V. | Ultrasound based tracking |
US9931098B2 (en) * | 2016-04-14 | 2018-04-03 | Carestream Health, Inc. | Post acquisition calibration |
US10152786B2 (en) * | 2016-10-11 | 2018-12-11 | Biosense Webster (Israel) Ltd. | Registration of a magnetic tracking system with an imaging device |
US11771392B2 (en) | 2018-03-19 | 2023-10-03 | Koninklijke Philips N.V. | Multi-modal imaging alignment |
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US5803089A (en) | 1994-09-15 | 1998-09-08 | Visualization Technology, Inc. | Position tracking and imaging system for use in medical applications |
US6605041B2 (en) | 1996-08-22 | 2003-08-12 | Synthes (U.S.A.) | 3-D ultrasound recording device |
US6584339B2 (en) * | 2001-06-27 | 2003-06-24 | Vanderbilt University | Method and apparatus for collecting and processing physical space data for use while performing image-guided surgery |
US6867753B2 (en) * | 2002-10-28 | 2005-03-15 | University Of Washington | Virtual image registration in augmented display field |
US7697972B2 (en) | 2002-11-19 | 2010-04-13 | Medtronic Navigation, Inc. | Navigation system for cardiac therapies |
US20050107687A1 (en) | 2003-11-14 | 2005-05-19 | Anderson Peter T. | System and method for distortion reduction in an electromagnetic tracker |
US7867167B2 (en) | 2004-04-15 | 2011-01-11 | Johns Hopkins University | Ultrasound calibration and real-time quality assurance based on closed form formulation |
US20060241432A1 (en) * | 2005-02-15 | 2006-10-26 | Vanderbilt University | Method and apparatus for calibration, tracking and volume construction data for use in image-guided procedures |
US10555775B2 (en) * | 2005-05-16 | 2020-02-11 | Intuitive Surgical Operations, Inc. | Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery |
US7713205B2 (en) * | 2005-06-29 | 2010-05-11 | Accuray Incorporated | Dynamic tracking of soft tissue targets with ultrasound images, without using fiducial markers |
US7535411B2 (en) | 2005-08-01 | 2009-05-19 | Resonant Medical, Inc. | System and method for detecting drifts in calibrated tracking systems |
EP1769768A1 (fr) * | 2005-09-28 | 2007-04-04 | DePuy Orthopädie GmbH | Calibration d'un instrument chirurgical |
US7874987B2 (en) * | 2005-10-28 | 2011-01-25 | Biosense Webster, Inc. | Targets and methods for ultrasound catheter calibration |
ES2569411T3 (es) * | 2006-05-19 | 2016-05-10 | The Queen's Medical Center | Sistema de seguimiento de movimiento para imágenes adaptativas en tiempo real y espectroscopia |
EP1867955A1 (fr) | 2006-06-08 | 2007-12-19 | BrainLAB AG | Dispositiv medicale calibré avec capteur d'environment |
EP2104919A2 (fr) | 2006-11-27 | 2009-09-30 | Koninklijke Philips Electronics N.V. | Système et procédé permettant de fondre en temps réel des images ultrasons et des clichés médicaux préalablement acquis |
WO2009063360A1 (fr) | 2007-11-14 | 2009-05-22 | Koninklijke Philips Electronics, N.V. | Système et procédé pour le calibrage automatique d'ultrason localisé |
US8000890B2 (en) * | 2007-11-30 | 2011-08-16 | General Electric Company | Image-guided navigation employing navigated point computation method and system |
US8086004B2 (en) * | 2008-01-15 | 2011-12-27 | Accuray Incorporated | Use of a single X-ray image for quality assurance of tracking |
DE102008014030B4 (de) * | 2008-03-12 | 2017-01-26 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Verfahren zum Kalibrieren eines Bühne-Kamera-Systems sowie Bühne-Kamera-System und Mikroskop mit derartigem Bühne-Kamera-System |
WO2009152055A2 (fr) * | 2008-06-09 | 2009-12-17 | Mako Surgical Corp. | Ensemble pince cinématique auto-détecteur |
US20110184684A1 (en) * | 2009-07-21 | 2011-07-28 | Eigen, Inc. | 3-d self-correcting freehand ultrasound tracking system |
WO2011063517A1 (fr) * | 2009-11-27 | 2011-06-03 | Sentinelle Medical Inc. | Systèmes et procédés de suivi de positions entre des modalités d'image et de transformation d'une image en trois dimensions correspondant à une position et à une orientation de la sonde |
WO2011110966A2 (fr) * | 2010-03-11 | 2011-09-15 | Koninklijke Philips Electronics N.V. | Procédé et système pour la caractérisation et la visualisation d'erreurs de suivi électromagnétique |
DE102010020781B4 (de) * | 2010-05-18 | 2019-03-28 | Siemens Healthcare Gmbh | Bestimmung und Überprüfung der Koordinatentransformation zwischen einem Röntgensystem und einem Operationsnavigationssystem |
CN102970926B (zh) * | 2010-06-28 | 2016-08-17 | 皇家飞利浦电子股份有限公司 | Em校准的实时质量控制 |
WO2013001424A2 (fr) * | 2011-06-27 | 2013-01-03 | Koninklijke Philips Electronics N.V. | Système guidé par image ultrasonore et procédé d'étalonnage à base de mouvement de volume |
CN103987337B (zh) * | 2011-12-13 | 2017-05-17 | 皇家飞利浦有限公司 | 用于em跟踪的补偿、检测和误差校正的畸变指纹分析 |
EP2797543A2 (fr) * | 2011-12-27 | 2014-11-05 | Koninklijke Philips N.V. | Contrôle de qualité intra-opératoire de systèmes de suivi |
US9289185B2 (en) * | 2012-07-23 | 2016-03-22 | ClariTrac, Inc. | Ultrasound device for needle procedures |
CA2794226C (fr) * | 2012-10-31 | 2020-10-20 | Queen's University At Kingston | Calibrage d'ultrasons peroperatoire automatise |
-
2011
- 2011-05-27 CN CN201180032617.6A patent/CN102970926B/zh active Active
- 2011-05-27 JP JP2013517600A patent/JP5848762B2/ja active Active
- 2011-05-27 WO PCT/IB2011/052328 patent/WO2012001548A1/fr active Application Filing
- 2011-05-27 US US13/702,724 patent/US9135707B2/en active Active
- 2011-05-27 EP EP11736161.8A patent/EP2584965B1/fr active Active
Also Published As
Publication number | Publication date |
---|---|
EP2584965A1 (fr) | 2013-05-01 |
JP2013529531A (ja) | 2013-07-22 |
CN102970926A (zh) | 2013-03-13 |
WO2012001548A1 (fr) | 2012-01-05 |
US9135707B2 (en) | 2015-09-15 |
EP2584965B1 (fr) | 2016-04-13 |
JP5848762B2 (ja) | 2016-01-27 |
US20130266178A1 (en) | 2013-10-10 |
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